refactor(arm): Use motion profile calculator.

src/main/java/frc/lib/FeedforwardUtil.java → src/main/java/frc/lib/ArmFeedforwardCalculator.java

@@ -2,8 +2,8 @@
 
 import edu.wpi.first.math.geometry.Rotation2d;
 
-/** Helper class to assist with feedforward calculations. */
-public class FeedforwardUtil {
+/** Helper class to assist with arm feedforward calculations. */
+public class ArmFeedforwardCalculator {
 
   /**
    * Calculates the gravity compensation constant for an arm given the voltage applied at an

src/main/java/frc/lib/MotionProfileCalculator.java

@@ -0,0 +1,17 @@
+package frc.lib;
+
+/** Helper class to assist with motion profile calculations. */
+public class MotionProfileCalculator {
+
+  /**
+   * Calculates an acceleration using a ramp duration.
+   *
+   * @param maximumSpeed the maximum speed in units per second.
+   * @param desiredRampDurationSeconds the desired duration to ramp from no speed to full speed.
+   * @return the acceleration in units per second per second.
+   */
+  public static double calculateAcceleration(
+      double maximumSpeed, double desiredRampDurationSeconds) {
+    return maximumSpeed / desiredRampDurationSeconds;
+  }
+}

src/main/java/frc/robot/arm/ArmConstants.java

@@ -3,6 +3,7 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
 import frc.lib.CAN;
+import frc.lib.MotionProfileCalculator;
 
 /** Constants for the arm subsystem. */
 public class ArmConstants {
@@ -33,7 +34,8 @@ public static class ShoulderMotorConstants {
     public static final double MAXIMUM_SPEED = 1.5;
 
     /** Maximum acceleration of the shoulder joint in rotations per second per second. */
-    public static final double MAXIMUM_ACCELERATION = 5.0;
+    public static final double MAXIMUM_ACCELERATION =
+        MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.3);
   }
 
   /** Constants for the elbow motor. */

src/main/java/frc/robot/arm/ShoulderMotorIOSim.java

@@ -7,7 +7,7 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
-import frc.lib.FeedforwardUtil;
+import frc.lib.ArmFeedforwardCalculator;
 import frc.robot.RobotConstants;
 import frc.robot.arm.ArmConstants.ShoulderMotorConstants;
 
@@ -44,7 +44,7 @@ public ShoulderMotorIOSim() {
     feedforward =
         new ArmFeedforward(
             0,
-            FeedforwardUtil.calculateArmGravityCompensation(
+            ArmFeedforwardCalculator.calculateArmGravityCompensation(
                 Rotation2d.fromDegrees(70.81), 0.101859),
             0);
   }

src/main/java/frc/robot/arm/ShoulderMotorIOSparkMax.java

@@ -7,8 +7,8 @@
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
+import frc.lib.ArmFeedforwardCalculator;
 import frc.lib.Configurator;
-import frc.lib.FeedforwardUtil;
 import frc.robot.arm.ArmConstants.ShoulderMotorConstants;
 
 /** Shoulder motor using a Spark Max. */
@@ -38,7 +38,8 @@ public ShoulderMotorIOSparkMax() {
     feedforward =
         new ArmFeedforward(
             0,
-            FeedforwardUtil.calculateArmGravityCompensation(Rotation2d.fromDegrees(18.0), 0.1222),
+            ArmFeedforwardCalculator.calculateArmGravityCompensation(
+                Rotation2d.fromDegrees(18.0), 0.1222),
             0);
   }
 

src/main/java/frc/robot/swerve/SwerveConstants.java

@@ -3,6 +3,7 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
+import frc.lib.MotionProfileCalculator;
 import frc.lib.PIDFConstants;
 
 /** Constants for the swerve subsystem. */
@@ -93,20 +94,9 @@ private static double calculateMaximumAttainableSpeed(
   /** Maximum speed in meters per second. */
   public static final double MAXIMUM_SPEED = MAXIMUM_ATTAINABLE_SPEED;
 
-  /**
-   * Calculates an acceleration using a ramp duration.
-   *
-   * @param maximumSpeed the maximum speed in units per second.
-   * @param desiredRampDurationSeconds the desired duration to ramp from no speed to full speed.
-   * @return the acceleration in units per second per second.
-   */
-  private static double calculateAcceleration(
-      double maximumSpeed, double desiredRampDurationSeconds) {
-    return maximumSpeed / desiredRampDurationSeconds;
-  }
-
   /** Maximum acceleration in meters per second per second. */
-  public static final double MAXIMUM_ACCELERATION = calculateAcceleration(MAXIMUM_SPEED, 0.1);
+  public static final double MAXIMUM_ACCELERATION =
+      MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.1);
 
   /** Maximum attainable rotational speed in rotations per second. */
   public static final double MAXIMUM_ATTAINABLE_ROTATION_SPEED =
@@ -117,7 +107,7 @@ private static double calculateAcceleration(
 
   /** Maximum acceleration in rotations per second per second. */
   public static final double MAXIMUM_ROTATION_ACCELERATION =
-      calculateAcceleration(MAXIMUM_ROTATION_SPEED, 0.1);
+      MotionProfileCalculator.calculateAcceleration(MAXIMUM_ROTATION_SPEED, 0.1);
 
   public static final PIDFConstants DRIVE_PIDF_CONSTANTS = new PIDFConstants();